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use calculation
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Marius Eggert
2023-07-20 11:09:46 +02:00
parent 300a6c5ff2
commit 7b0a47b010
2 changed files with 5 additions and 1 deletions
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mission/controller/AcsController.cpp
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@ -10,6 +10,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
guidance(&acsParameters),
safeCtrl(&acsParameters),
ptgCtrl(&acsParameters),
fusedRotationEstimation(&acsParameters),
parameterHelper(this),
mgmDataRaw(this),
mgmDataProcessed(this),
@ -147,7 +148,8 @@ void AcsController::performSafe() {
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
&gyrDataProcessed, &fusedRotRateData);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&